EP3433568B1 - Système de capteur magnétique - Google Patents

Système de capteur magnétique Download PDF

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Publication number
EP3433568B1
EP3433568B1 EP17770816.1A EP17770816A EP3433568B1 EP 3433568 B1 EP3433568 B1 EP 3433568B1 EP 17770816 A EP17770816 A EP 17770816A EP 3433568 B1 EP3433568 B1 EP 3433568B1
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Prior art keywords
sensor
magnets
magnetic
line
magnet
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EP17770816.1A
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German (de)
English (en)
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EP3433568A1 (fr
EP3433568A4 (fr
Inventor
Seong-Jae Lee
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Suzhou Littelfuse OVS Ltd
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Suzhou Littelfuse OVS Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G01L5/0033—Force sensors associated with force applying means applying a pulling force

Definitions

  • This disclosure relates generally to the field of magnetic sensor systems, more particularly, to linear measurement systems using magnetic sensors.
  • magnetic sensors such as Hall sensors are used.
  • a Hall sensor and two magnets can be used to generate an output signal indicative of varying levels of tension.
  • the Hall sensor is positioned in the center of two magnets. The Hall sensor travels linearly along a center line between the two magnets as tension is applied and generates the output signal.
  • linearity of many conventional magnetic sensor systems - including many conventional tension sensors - is limited by the arrangement of the sensor and the magnets. Specifically, the linearity of the sensor is often limited to positions very near the midpoints of the two magnets. This limited linearity range in such conventional systems limits the reliability and accuracy of measurements made by the magnetic sensor, thereby limiting the usefulness of such conventional systems.
  • larger magnets can be used.
  • the use of larger magnets can introduce significant size burdens that must be accounted for during the design and use of such systems.
  • employing larger magnets prevents conventional magnetic sensor systems from fitting into tight spaces or restricted spaces where such systems are typically used.
  • 'A measuring device for measuring a pulling force acting on a belt webbing of a seat belt of a motor vehicle is located between an anchoring point of the seat belt on the vehicle and a connection device which is to be connected to the seat belt.
  • the connection device in relation to the anchoring point, can be moved against a spring bias.
  • the measuring device is a magnetic field sensor that is arranged between two analogous poles of two permanent magnets.
  • US 2010/308805 A1 discloses a magnetic field sensing system, where the magnetic field sensor is located along a line off-center from and parallel to the symmetry line between the two magnets in a plane comprising the said symmetry line and the longitudinal axis of each magnet.
  • Various embodiments are generally directed to an improved magnetic sensor system with an extended linear range.
  • Various embodiments provide an improved magnetic sensor system with an extended linear range that can be applied to any measurement system including linear displacement or linear distance measurement systems.
  • Various embodiments provide a magnetic sensor system that includes one or more sensors and two or more magnets.
  • Various embodiments provide a magnetic sensor system including a sensor that is offset from a center line positioned between two magnets having opposite polarities.
  • Various embodiments provide a magnetic sensor system including a first sensor that is offset from a center line positioned between two magnets having opposite polarities and a second sensor offset from the center line in a direction opposite to the first sensor.
  • FIG. 1 illustrates a conventional magnetic sensor system 100.
  • the conventional magnetic sensor system 100 includes a first magnet 102, a second magnet 104, and a magnetic sensor 106.
  • the first magnet 102 and the second magnet 104 can be separated by a distance 108.
  • the first magnet 102 and the second magnet 104 can be oriented in opposite manners relative to one another with respect to north and south poles of each of the first and second magnets 102 and 104.
  • the first magnet 102 and the second magnet 104 can be considered to be of opposite polarity.
  • the magnetic sensor 106 can be positioned in the middle between the first magnet 102 and the second magnet 104.
  • the magnetic sensor 106 can traverse a path 110.
  • the path 110 can be parallel to the first and second magnets 102 and 104.
  • the path 110 can bisect the distance 108 such that the sensor 106 is separated from each of the first and second magnets 102 and 104 by the same distance.
  • the magnetic sensor 106 can detect a magnetic flux density provided by the first and second magnets 102 and 104.
  • the magnetic flux density provided by the first and second magnets 102 and 104 can vary along the path 110. Accordingly, as the sensor 106 traverses the path 110, the sensor 106 can detect changes in the magnetic flux density.
  • the sensor 106 can generate a signal based on the detected magnetic flux density and/or changes thereto.
  • the range of linearity of a signal generated by the sensor 106 is significantly limited by the arrangement of the conventional magnetic sensor system 100. As such, in the conventional magnetic sensor system 100, the sensor 106 can only reliably output a linear signal when it is confined to positions near the midpoint of the first and second magnets 102 and 104. This limited range of linearity greatly reduces the ability of the conventional magnetic sensor system 100 to reliably provide signals based on measured magnetic flux density over needed distances. To improve the range of linearity, the sizes of the first and second magnets 102 and 104 can be increased. However, in doing so, movement of the sensor 106 may become overly restricted and/or the conventional magnetic sensor system 100 may become too large to be used in confined areas where magnetic sensor systems are typically used.
  • FIG. 2 illustrates an exemplary magnetic sensor system 200.
  • the exemplary magnetic sensor system 200 includes a first magnet 202, a second magnet 204, and a magnetic sensor 206.
  • the magnetic sensor 206 can be any type of sensor for detecting or measuring magnetic flux density such as, for example, a Hall sensor.
  • the first and second magnets 202 and 204 are separated by a gap distance 208.
  • the first and second magnets 202 and 204 can be of the same size and shape.
  • the first and second magnets 202 and 204 can be cylindrical magnets or can be rectangular magnets.
  • the first and second magnets 202 and 204 can be oriented or positioned parallel to one another.
  • orientation axes 210 is provided in FIG. 2 .
  • the orientation axes 210 include an "x" axis and a "y" axis as shown which, as an example and for purposes of illustration only, can be considered as representing horizontal and vertical directions, respectively.
  • the first and second magnets 202 and 204 can be horizontally separated as shown relative to the "x" axis.
  • the magnets 202 and 204 can be also be oriented vertically relative to the "y" axis.
  • Contours 212 can represent a component of the magnetic flux density provided by the first and second magnets 202 and 204.
  • the contours 212 can represent variations in magnitude of the "x" component of the magnetic flux density provided by the first and second magnets 202 and 204 (relative to the orientation axes 210).
  • the sensor 206 can measure variations in the magnetic flux density represented by the contours 212. That is, the sensor 206 can measure the "x" component of the magnetic flux density represented by the contours 212.
  • the first and second magnets can be cylindrical magnets of the same size having diameters of approximately 4.4 millimeters (mm) and lengths of 6 mm. Further, the gap distance 208 between the magnets can be approximately 5.0 mm. Additionally, the contours 212 can represent the x component of the magnetic flux density that ranges from -0.4 Tesla (T) to 0.4 T (such that contours of the x component of the magnetic flux density having magnitudes larger than 0.4 T or smaller than -0.4 T are not shown). The "+" and "-" signs shown in FIG. 2 can represent positive and negative values of the x component of the magnetic flux density provided by the first and second magnets 202 and 204, respectively.
  • the first and second magnets 202 and 204 can be oriented opposite to one another. Specifically, the first magnet 202 can be oriented such that its north pole is oriented upwards (relative to the orientation axes 210) and the second magnet 204 can be oriented such that its north pole is oriented downwards (relative to the orientation axes 210).
  • the orientation of the first magnet 202 as shown in FIG. 2 can be considered a first orientation or state and the orientation of the second magnet 204 as shown in FIG. 2 can be considered a second orientation or state.
  • the first magnet 202 can be associated with providing (or oriented according to) a first polarity and the second magnet 204 can be associated with providing (or oriented according to) a second polarity. Accordingly, the first and second magnets 202 and 204 as shown in FIG. 2 are oriented with opposite polarities relative to one another.
  • FIG. 2 further shows a center line or path 214, a left line or path 216, and a right line or path 218.
  • the "left" and “right” lines 216 and 218 are considered to be oriented as such for illustration and explanation purposes only (e.g., relative to the orientation axes 210).
  • the center line 214 can be parallel to the first and second magnets 202 and 204. As an example, the center line 214 can be parallel to a central vertical axis of the first magnet 202 and the second magnet 204.
  • the center line 214 can be positioned in the center between the first and second magnets 202 and 204 such that a distance between the center line 214 and the first magnet 202 is equal to the distance between the center line 214 and the second magnet 204 (e.g., the center line 214 can bisect the gap distance 208).
  • the left line 216 can be offset from the center line 214. Specifically, the left line 216 can be offset from the center line 214 by a distance 220. The left line 216 can be positioned closer to the first magnet 202 relative to the center line 214 as shown in FIG. 2 .
  • the right line 218 can be offset from the center line 214. Specifically, the right line 218 can be offset from the center line 214 by a distance 222. The right line 218 can be positioned closer to the second magnet 204 relative to the center line 214 as shown in FIG. 2 .
  • the offset distances 220 and 222 can be any distance.
  • the offset distances 220 and 222 can be, as an example, equal such that the left line 216 is offset from the center line 214 by an amount that is equal to the offset between the right line 218 and the center line 214.
  • the left line 216 and the right line 218 can be parallel to the center line 214 and so also parallel to the first and second magnets 202 and 204 (e.g., parallel to a central vertical axis of the first magnet 202 and a central vertical axis of the second magnet 204).
  • the offset distance 220 can be approximately 1.25 mm and the offset distance 222 can also be approximately 1.25 mm.
  • the sensor 206 can be positioned along the path shown by the right line 218 (as shown in FIG. 2 ) or can be positioned along the path shown by the left line 216.
  • the left and right lines 216 and 218 can each be considered sensor lines.
  • the sensor lines 216 and 218 are arranged such that when the sensor 206 is positioned on either sensor line 216 or 218, the sensor 206 would be closer to one of the two magnets 202 and 204.
  • the sensor 206 when the sensor 206 is positioned on the sensor line 216, the sensor 206 will remain closer to the first magnet 202 than the second magnet 204 for all positions along the sensor line 216.
  • the sensor 206 is positioned on the sensor line 218, the sensor 206 will remain closer to the second magnet 204 than the first magnet 202 for all positions along the sensor line 218.
  • the sensor 206 can be moved along either of the sensor lines 214 and 216 while the first and second magnets 202 and 204 remain in a fixed or stationary position.
  • the sensor 206 can be positioned on either of the sensor lines 216 or 218 and can remain in a fixed or stationary positon as the first and second magnets 202 and 204 are moved in unison.
  • the first and second magnets 202 and 204 can move along a path that is parallel to the sensor lines 216 and 218 (along the central vertical axes of the first and second magnets 202 and 204).
  • the positons of the first and second magnets 202 and 204 can be fixed relative to the sensor 206. Further, the sensor 206 can be positioned to traverse the path indicated by the sensor line 218. As the sensor 206 traverses the path indicated by the sensor line 218, the sensor 206 can measure or detect the magnetic flux density provided the first and second magnets 202 and 204 (e.g., the x component of the magnetic flux density). The sensor 206 can generate or produce an electrical signal based on the detected magnetic flux density. For example, the sensor 206 can generate a signal of relatively lower magnitude corresponding to a relatively weaker detected magnetic flux density and can generate a signal of relatively higher magnitude corresponding to a relatively stronger detected magnetic flux density. As shown in FIG.
  • the sensor 206 can detect negative values of the magnetic flux density at the lower end of the sensor line 218 and can detect positive values of the magnetic flux density at the upper end of the sensor line 218 (e.g., relative to the orientation axes 210).
  • the sensor 206 when positioned on one of the sensor lines 216 or 218, can have an extended linear range as compared to the sensor 206 being positioned on the center line 214 (or in comparison to the sensor 106 of the conventional magnetic measurement system 100).
  • the extended linear range of the sensor 206 provided by being positioned on one of the sensor lines 216 or 218 is provided whether the sensor 206 is fixed relative to movement of the first and second magnets 202 and 204 or whether the sensor 206 is moved relative to a fixed positioning of the first and second magnets 202 and 206.
  • the sensor 206 can measure the x component of the magnetic flux density/magnetic fields as shown in FIG. 2 .
  • the sensor lines 216 and 218 can provide an extended linear range for the sensor 206 relative to the center line 214 by being oriented to traverse or overlap larger regions of the contours 212 that have gaps or distances between the contours 212 that are the same or similar sizes.
  • the contours 212 can represent different magnitudes of the magnetic flux density provided by the first and second magnets 202 and 204 (e.g., the x component of the magnetic flux density). Accordingly, gaps or distances between adjacent contours 212 can represent a difference in magnitude between adjacent contours 212. When the gaps between adjacent contours 212 remain fixed or are of approximately the same size, a signal generated by the sensor 206 can remain linear or more closely linear over such regions as compared to over regions where the gap distances vary.
  • a contour gap distance 224 is shown in FIG. 2 for the center line 214.
  • the contour gap distance 224 (shown in FIG. 2 as " ⁇ Y") remains fairly uniform in a central region along the center line 214 between the first and second magnets 202 and 204.
  • the gaps between the contours 212 increase such that the contour gap distance 224 varies considerably. Since the linear range of a sensor depends on the gap distance 224 remaining approximately uniform, a sensor traversing the center line 214 would have a very limited linear range.
  • the gaps between the contours 212 traversed by the sensor lines 216 and 218 remain approximately uniform over a longer distance, particularly at the ends of the sensor lines 216 and 218 compared to the center line 214. That is, gaps between contours 212 at the ends of the sensor lines 216 and 218 remain more uniform as compared to the center line 214.
  • the linear range of the sensor is extended in comparison to measuring magnetic flux density long the center line 214.
  • the magnetic sensor system 200 provides an enhanced linear magnetic measuring system.
  • a linear range of the sensor 206 - e.g., in terms of the relationship between detecting magnetic flux density and generating an output signal indicative of the detected magnetic flux density - can be extended, in comparison to the conventional magnetic sensor system 100.
  • FIG. 3 illustrates an extended linear range provided by the exemplary magnetic sensor system 200.
  • FIG. 3 shows measured magnetic flux density (e.g., the x component of the magnetic flux density) relative to distance along the center line 214 and the sensor lines 216 and 218.
  • Plot 302 can represent measured magnetic flux by a sensor positioned along the center line 214.
  • a linear range of the plot 302 is indicated by first end 306-A and second end 306-B, and represents the linear range of a sensor positioned on the center line 214.
  • plot 304 can represent measured magnetic flux by a sensor (e.g., the sensor 206) positioned along either sensor line 216 or 218.
  • the linear range of the plot 304 is indicated by first end 308-A and second end 308-B, and represents the linear range of a sensor (e.g., the sensor 206) positioned on either sensor lines 216 or 218.
  • the plots 302 and 30 can be based on the exemplary cylindrical magnet shapes and sizes (e.g., cylindrical with diameters of 4.4. mm and lengths of 6 mm), exemplary gap distance 208 (5.0 mm), and exemplary offset distances 220 and 222 (1.25 mm each) discussed above.
  • the linear range of plot 304 is larger or longer than the linear range of the plot 302.
  • the linear range of a sensor positioned on one of the sensor lines 216 or 218 is greater (e.g., in terms of distance) than the linear range of a sensor positioned on the center line 214. Consequently, a sensor positioned on either sensor line 216 or 218 can provide a signal indicative of the magnetic flux density that remains linear over a longer distance range, thereby improving the reliability, usefulness, and/or accuracy of a magnetic flux density measurement compared to such measurement made by a sensor along the center line 214.
  • the linear range of the sensor 206 when positioned on the sensor line 216 or 218 can be extended by approximately 25% compared to the linearity range of a sensor provided by the conventional magnetic sensor system 100 (e.g., when the sensor is positioned along the center path 214).
  • the magnetic sensor system 200 can be used in any measurement system based on producing signals indicative of magnetic field density changes.
  • the magnetic field density changes can be converted into useful electrical signals which can, for example, inform the weight of drivers or passengers of vehicles or can indicate the tension of a seat belt (e.g., whether the seat belt is buckled or not or is too tight or too loose).
  • the sensor 206 shown in FIG. 2 can generate or provide a signal based on detected magnetic flux density that depends on the orientation of the sensor 206 relative to the first and second magnets 202 and 204 to provide useful information about such positioning.
  • the magnetic measurement system 200 (and any magnetic measurement system of the present disclosure as described herein) can be used in any distance or displacement measurement system.
  • FIG. 4 illustrates a second exemplary magnetic sensor system 400.
  • the second exemplary magnetic sensor system 400 is similar to the first exemplary magnetic sensor system 200 but includes a second sensor 402.
  • the second sensor 402 is positioned along the sensor line 216.
  • the second sensor 402 can be any magnetic sensor including, for example, a Hall sensor.
  • the magnetic sensor system 400 can function and operate similarly to the magnetic sensor system 200.
  • each of the sensors 206 and 402 can measure or detect the magnetic flux density provided by the magnets 202 and 204.
  • the first sensor 206 and the second sensor 402 can each measure magnetic flux density such that the measured x components of the magnetic flux density can be added and the measured y components of the magnetic flux density can be canceled out.
  • a magnetic flux density e.g., the x component
  • a second component of the magnetic flux density e.g., the y component
  • accurate measurement of the x component of the magnetic flux density can be adversely affected by undesired detection of the y component of the magnetic flux density.
  • misalignments between the magnets and/or the magnetic sensors e.g., during fabrication or from wear and tear over time
  • the magnetic sensor measurement system 400 mitigates this risk by providing the two sensors 206 and 402.
  • the sensors 206 and 402 can each measure the magnetic flux density of the environment provided by the magnets 202 and 204. Further, the x components of the measured magnetic flux densities as detected by the sensors 206 and 402 can be measured additively while the y components of the magnetic flux densities as detected by the sensors 206 and 402 can be cancelled out.
  • the magnetic flux density measured by the sensor 206 can have a first component and a second component, corresponding to a desired x component measurement and an undesired y component measurement, respectively.
  • the magnetic flux density measured by the sensor 402 can also have a first component and a second component, corresponding to a desired x component measurement and an undesired y component measurement, respectively.
  • these first measured components can be measured additively while the second measured components (the y components of the detected magnetic flux density) can be canceled out (e.g., by subtracting the y component measurement from the sensor 206 from the y component measurement from the sensor 402). In doing so, the magnetic sensor measurement system 400 can provide improved magnetic flux density measurements.
  • FIG. 5 illustrates possible variations in the positions of the sensors 206 and/or 402 depicted in magnetic measurement systems 200 and 400.
  • FIG. 5 shows a first plane 502, a second plane 504, and a third plane 506.
  • the planes 502-506 can be perpendicular to the orientation axes 210 (shown in FIG. 5 for illustrative purposes). That is, the planes 502-506 can be perpendicular to a plane that bisects the first and second magnets 202 and 204 and contains the center line 214 as shown, for example, in FIGs. 2 and 4 .
  • the plane 502 can correspond to the center line 214.
  • the plane 504 can correspond to the left sensor line 516.
  • the plane 506 can correspond to the right sensor line 218.
  • the planes 502-506 can indicate a range of positioning of the center line 214 and sensor lines 516 and 518, respectively, that is perpendicular to the orientation axes 210 (and therefore perpendicular to a plane that bisects the first and second magnets 202 and 204 and contains the center line 214 as shown in FIGs. 2 and 4 ).
  • the plane 506 can include the right line 218.
  • the plane 506, as mentioned above, can be perpendicular to the orientation axes 210.
  • the plane 506 can represent a possible variation in the placement of the right sensor line 218 along a "z" direction.
  • the plane 506 - representing variation in a "z" direction - can be perpendicular to a plane that bisects the first and second magnets 202 (e.g., and includes a central vertical axis of each of the magnets 202 and 204) and is parallel to the orientation axes 210 (and can include the center line 214).
  • the senor 206 can be offset along the plane 506 from the right sensor line 218.
  • the sensor 206 can be offset by a distance 510 along an offset line 508.
  • the sensor 206 can be offset by a distance in the opposite direction along an offset line 512.
  • the offset distance 510 can be any distance such as, for example, 1.25 mm.
  • FIG. 5 is intended to show variations of the positioning of the sensor 206 and/or 402 in the magnetic measurement systems 200 and 400 in three dimensions (and for further magnetic sensor systems of the present disclosure described below).
  • the sensors 206 and 402 can be offset in a direction that is perpendicular to a plane that bisects the first and second magnets 202 and 204 and is parallel to the orientation axes 210.
  • the sensors 206 and/or 402 can be offset along this third axis by an amount that is approximately equal to or less than the offset distances 220 and/or 222.
  • the offset distance 222 can be 1.5 mm and the offset distance 510 can also be 1.25 mm.
  • the sensor 206 can be positioned along the sensor line 508 (or sensor line 512) for measuring magnetic flux density.
  • the positioning of the sensor 402 can be similarly varied.
  • the plane 506 can contain the lines 508, 218, and 512.
  • the plane 506 can be perpendicular to a plane containing the lines 214, 216, and 218 as depicted, for example, in FIGs. 2 and 4 .
  • FIG. 6 illustrates a third exemplary magnetic measurement system 600.
  • the magnetic measurement system 600 is similar to the magnetic measurement systems 200 and functions similarly.
  • the first and second magnets 202 and 204 are oriented differently than the orientation between the first and second magnets 202 and 204 as shown in FIG. 2 for the magnetic measurement system 200.
  • the first magnet 202 is oriented according to a third orientation or state such that its north pole is positioned closer to the sensor line 216 relative to its south pole.
  • the second magnet 204 is oriented according to a fourth orientation or state such that its north pole is positioned closer to the sensor line 218 relative to its south pole.
  • the positioning and orientation of the first and second magnets 202 and 204 as shown in FIG. 6 results in the first and second magnets 202 and 204 having opposite polarities.
  • the sensor 206 as depicted in FIG. 6 can measure variations in the magnetic flux density along a y component (relative to the orientation axes 210).
  • the orientation of the magnets 202 and 204 as shown in FIG. 6 is such that the north and south poles of the magnets are oriented parallel to the sensor line 214.
  • the orientation of the magnets 202 and 204 as shown in FIG. 6 is such that the north and south poles of the magnets are oriented perpendicular to the sensor line 214. In both arrangements, the magnets 202 and 204 can be considered as arranged having different polarities.
  • the magnetic flux density provided by the magnets 202 and 204 as oriented in FIG. 6 can vary from the magnetic flux density provided by the magnets 202 and 204 as oriented in FIG. 2 .
  • FIG. 2 illustrates the x component of the magnetic flux density
  • FIG. 6 illustrates the y component of the magnetic flux density.
  • the magnetic flux density variations provided by the magnets 202 and 204 as depicted in FIG. 6 are represented by contours 610 (corresponding to the contour 212 shown in FIG. 2 ).
  • the contours 610 can represent the y component of the magnetic flux density provided by the magnets 202 and 204 of FIG. 6 that ranges from -0.4 T to 0.4 T (such that contours of the y component of the magnetic flux density having magnitudes larger than 0.4 T or smaller than -0.4 T are not shown).
  • the shapes and sizes of the first and second magnets 202 and 204, the gap distance 208, the offset distances 220 and 222, as well as other features of the magnetic measurement system 600 can vary as discussed in relation to FIG. 2 .
  • the magnets 202 and 204 can be cylindrical magnets having diameters of approximately 4.4 mm and lengths of approximately 6 mm, with a gap distance 208 5.0 mm, and with offset distances 220 and 222 of 1.5 mm each.
  • the magnetic measurement system 600 can also provide for an enhanced or extended linear range of the sensor 206. This can be illustrated based on gap distance 604 (shown in FIG. 6 as " ⁇ Y"). As can be seen in FIG. 6 , the gap distance 604 remains fairly uniform in a central region along the center line 214 between the first and second magnets 202 and 204. However, at the top and bottom ends of the center line 214, the gaps between the contours 602 increase such that the gap distance 604 varies considerably. In contrast, the gaps between the contours 602 traversed by the sensor lines 216 and 218 remain approximately uniform over a longer range, particularly at the ends of the sensor lines 216 and 218 compared to the center line 214.
  • FIG. 7 illustrates an extended linear range provided by the exemplary magnetic sensor system 600.
  • FIG. 7 shows measured magnetic flux density (e.g., the y component of the magnetic flux density) relative to distance along the center line 214 and the sensor lines 216 and 218.
  • Plot 702 can represent measured magnetic flux by a sensor positioned along the center line 214.
  • a linear range of the plot 702 is indicated by first end 706-A and second end 706-B, and represents the linear range of a sensor positioned on the center line 214.
  • plot 704 can represent measured magnetic flux by a sensor (e.g., the sensor 206) along either sensor line 216 or 218.
  • the linear range of the plot 704 is indicated by first end 708-A and second end 708-B, and represents the linear range of a sensor (e.g., the sensor 206) positioned on either sensor line 216 or 218.
  • the linear range of plot 704 is larger or longer than the linear range of the plot 702.
  • the linear range of a sensor positioned on one of the sensor lines 216 or 218 is greater (e.g., in terms of distance) than the linear range of a sensor positioned on the center line 214. Consequently, a sensor positioned on either sensor line 216 or 218 can provide a signal indicative of the magnetic flux density that remains linear over a longer distance range, thereby improving the reliability, usefulness, and/or accuracy of a magnetic flux density measurement compared to such measurement made by a sensor along the center line 214.
  • the linear range of the sensor 206 when positioned on the sensor line 216 or 218 can be extended by approximately 30% compared to the linearity range of a sensor provided by the conventional magnetic sensor system 100 (e.g., when the sensor is positioned along the center path 214).
  • FIG. 8 illustrates a fourth exemplary magnetic sensor system 800.
  • the fourth exemplary magnetic sensor system 800 is similar to the third exemplary magnetic sensor system 600 but includes a second sensor 802.
  • the second sensor 802 is positioned along the sensor line 216.
  • the second sensor 802 can be any magnetic sensor including, for example, a Hall sensor.
  • the fourth exemplary magnetic sensor system 800 can improve detection of a first component of a magnetic flux density provided by the first and second magnets 202 and 204 (e.g., the y component as shown in relation to FIG. 8 ) while reducing unwanted effects from detection of a second component of the magnetic flux density (e.g., the x component as shown in relation to FIG. 8 ), as explained in relation to the magnetic sensor system 400.
  • the sensors 206 and 802 can each measure the magnetic flux density of the environment provided by the magnets 202 and 204. Specifically, the y components of the magnetic flux densities as detected by the sensors 206 and 802 can be measured additively while the x components of the magnetic flux densities as detected by the sensors 206 and 802 can be cancelled out.
  • the magnetic flux density measured by the sensor 206 can have a first component and a second component, corresponding to a desired y component measurement and an undesired x component measurement, respectively.
  • the magnetic flux density measured by the sensor 802 can also have a first component and a second component, corresponding to a desired y component measurement and an undesired x component measurement, respectively.
  • these first measured components can be measured additively while the second measured components (the x components of the detected magnetic flux density) can be canceled out (e.g., by subtracting the x component measurement from the sensor 206 from the x component measurement from the sensor 802). In doing so, the magnetic sensor measurement system 800 can provide improved magnetic flux density measurements.
  • FIG. 9 illustrates exemplary results for a magnetic sensor system of the present disclosure.
  • a plot 902 shows the relationship between a signal generated by a magnetic sensor and a vertical displacement of the sensor in relation to two identical magnets. The signal generated by the magnetic sensor was based on the magnetic flux density detected by the sensor.
  • a Hall sensor was placed 0.22 mm off from a center line separating the two identical magnets and 0.55 mm of from the plane passing through the two centers of the magnets. The sensor was moved relative to the magnets. A signal generated by the sensor was recorded for various vertical displacements of the sensor relative to the two magnets, resulting in plot 902.
  • the plot 902 is linear, indicating that the output signal generated by the test sensor is linear as the sensor traverses the magnetic flux density provided by the test magnets.
  • FIG. 10 illustrates an exemplary arrangement of multiple magnets 500 that can be used with the magnet sensor systems of the present disclosure as described herein.
  • four magnets are shown: a first magnet 1002, a second magnet 1004, a third magnet 1006, and a fourth magnet 1008.
  • the magnets 1002-1008 can be of approximately the same size and shape.
  • each of the magnets 1002-1008 can be cylindrical magnets.
  • the magnets 1002-1008 can be rectangular magnets.
  • exemplary orientation axes 1010 is also shown for illustrative and explanatory purposes. The orientation axes include "x", "y", and "z" directions to illustrate the three dimensional arrangement of the magnets 1002-1008.
  • each of the magnets 1002-1008 are oriented vertically (e.g., relative to the y axis of the orientation axes 1010), but are not so limited.
  • the first magnet 1002 and the second magnet 1004 are oriented similarly such that the north poles of the magnets 1002 and 1004 are positioned above the south poles of the magnets 1002 and 1004.
  • the third magnet 1006 and the fourth magnet 1008 are also oriented similarly such that the south poles of the magnets 1006 and 1008 are positioned above the north poles of the magnets 1006 and 1008.
  • the first and second magnets 1002 and 1004 can be considered to be oriented in a first manner to provide a first polarity and the and the third and fourth magnets 1006 and 1008 can be considered to be oriented in a second manner to provide a second, opposite polarity.
  • the second magnet 1004 can correspond to the first magnet 202 and the fourth magnet 1008 can correspond to the second magnet 204 as depicted, for example, in FIG. 2 .
  • the first magnet 1002 and the third magnet 1006 can then be seen as similarly oriented magnets positioned behind the magnets 1004 and 1008.
  • the arrangement 1000 shown in FIG. 10 can be used with the magnetic measurement systems described herein.
  • the magnetic measurement systems 200 and 400 can be modified to include the arrangement 1000.
  • the magnetic measurement systems 600 and 800 can be modified to include the arrangement 1000 (e.g., by having the north poles of the magnets 1002-1008 oriented horizontally and pointing to one another).
  • the arrangement 1000 can be extended to additional magnets and is not limited to the four magnets as shown.
  • one or more sensors can be positioned in the center of the magnets 1002-1008 such that the one or more sensors are offset from a central vertical axis that is equidistant to each of the magnets 1002-1008. In doing so, a linear range of the one or more sensors can be enhanced over conventional positioning of magnetic sensors relative to multiple magnetic arrangements in accordance with the principles described herein.
  • the gap distance between the two or more magnets can be based on the size of the magnets used in the system.
  • any offset of a sensor from a center line e.g., either in the same plane as the center line or perpendicular thereto
  • the size of the magnets and/or the size of the gap distance can be based on the size of the magnets and/or the size of the gap distance, thereby allowing the one or more sensor lines to be positioned so as to extend a linear range of a sensor used in the systems described herein.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Claims (14)

  1. Dispositif (200), comprenant :
    un premier aimant (202) possédant un axe vertical central parallèle à l'axe y d'un système de coordonnées cartésiennes, dit CCS pour Cartesian Coordinate System,
    un deuxième aimant (204) possédant un autre axe vertical central parallèle audit axe y, le deuxième aimant (204) étant séparé du premier aimant (202) selon une distance d'écartement (208) par rapport à l'axe x dudit système CCS ; et
    un capteur magnétique (206) déplaçable le long d'une ligne de détection (216, 218), la ligne de détection (216, 218) étant décalée, parallèlement, d'une ligne centrale (214) située, parallèlement, entre les premier et deuxième aimants (202, 204), ladite ligne centrale (214) bissectant ladite distance d'écartement (208) et étant parallèle auxdits axes verticaux centraux,
    ledit capteur magnétique (206) étant adapté à générer un signal de sortie reposant sur l'induction magnétique délivrée par les premier et deuxième aimants (202, 204) le long de la ligne de détection,
    ladite ligne de détection (216, 218) étant décalée par rapport à l'axe z dudit système CCS dans un sens perpendiculaire à un plan qui contient la ligne centrale (214) et les axes verticaux centraux des premier et deuxième aimants (202, 204) et qui bissecte les premier et deuxième aimants (202, 204).
  2. Dispositif selon la revendication 1, dans lequel la position des premier et deuxième aimants (202, 204) est fixe et le capteur magnétique (206) se déplace le long de la ligne de détection (216, 218).
  3. Dispositif selon la revendication 1, dans lequel la position du capteur magnétique (206) est fixe et les premier et deuxième aimants (202, 204) se déplacent de concert le long de voies parallèles à la ligne de détection (216, 218).
  4. Dispositif selon l'une quelconque des revendications 1 à 3, dans lequel le capteur magnétique (206) est un capteur à effet Hall.
  5. Dispositif selon l'une quelconque des revendications 1 à 4, dans lequel le premier aimant (202) est orienté de façon à présenter une première polarité et le deuxième aimant (204) est orienté par rapport au premier aimant (202) de façon à présenter une deuxième polarité, opposée ; de préférence dans lequel les pôles nord et sud des premier et deuxième aimants (202, 204) sont orientés parallèlement à la ligne de détection (216, 218) ou dans lequel les pôles nord et sud des premier et deuxième aimants (202, 204) sont orientés perpendiculairement à la ligne de détection (216, 218).
  6. Dispositif selon l'une quelconque des revendications précédentes, dans lequel les premier et deuxième aimants (202, 204) sont des aimants cylindriques, de préférence dans lequel les premier et deuxième aimants (202, 204) ont un diamètre de 4,4 millimètres (mm) et une longueur de 6 mm, plus préférablement dans lequel la distance d'écartement est de 5,0 mm, et/ou
    dans lequel la distance d'écartement (208) est fonction de la taille des premier et deuxième aimants (202, 204).
  7. Dispositif selon la revendication 6, dans lequel la ligne de détection (216, 218) est décalée de 1,25 mm de la ligne centrale (214) dans un sens dirigé vers l'un des premier et deuxième aimants (202, 204).
  8. Dispositif selon l'une quelconque des revendications précédentes, dans lequel la ligne de détection (216, 218) est décalée dans le sens perpendiculaire au plan contenant la ligne centrale (214) et bissectant les premier et deuxième aimants (202, 204) selon une quantité qui est environ égale ou inférieure à la distance selon laquelle la ligne de détection (216, 218) est décalée de la ligne centrale (214).
  9. Dispositif selon l'une quelconque des revendications précédentes, dans lequel le capteur magnétique (206) est un premier capteur magnétique et la ligne de détection (216, 218) est une première ligne de détection, le dispositif comprenant en outre un deuxième capteur magnétique, le premier capteur magnétique étant disposé le long d'une première ligne de détection, la première ligne de détection étant décalée, parallèlement, d'une ligne centrale située, parallèlement, entre les premier et deuxième aimants, le deuxième capteur magnétique étant disposé le long d'une deuxième ligne de détection, la deuxième ligne de détection étant décalée, parallèlement, de la ligne centrale et sur un côté de la ligne centrale opposé à la première ligne de détection, lesdits premier et deuxième capteurs magnétiques générant chacun un signal de sortie reposant respectivement sur l'induction magnétique délivrée par les premier et deuxième aimants le long des première et deuxième lignes de détection.
  10. Dispositif selon la revendication 9, dans lequel :
    • la position des premier et deuxième aimants (202, 204) est fixe et les premier et deuxième capteurs magnétiques se déplacent de concert respectivement le long des première et deuxième lignes de détection, et/ou
    • la position des premier et deuxième capteurs magnétiques est fixe et les premier et deuxième aimants (202, 204) se déplacent de concert le long de voies parallèle aux première et deuxième lignes de détection, et/ou
    • les premier et deuxième capteurs magnétiques sont des capteurs à effet Hall.
  11. Dispositif selon la revendication 10, dans lequel le premier aimant (202) est orienté de façon à présenter une première polarité et le deuxième aimant (204) est orienté par rapport au premier aimant (202) de façon à présenter une deuxième polarité, opposée ; dans lequel de préférence les pôles nord et sud des premier et deuxième aimants (202, 204) sont orientés parallèlement aux première et deuxième lignes de détection ou dans lequel les pôles nord et sud des premier et deuxième aimants (202, 204) sont orientés perpendiculairement aux première et deuxième lignes de détection.
  12. Dispositif selon l'une quelconque des revendications 9 à 11, dans lequel les première et deuxième lignes de détection sont chacune décalées dans un même sens perpendiculaire à un plan contenant la ligne centrale et bissectant les premier et deuxième aimants.
  13. Dispositif selon la revendication 12, dans lequel les première et deuxième lignes de détection sont décalées, dans le même sens perpendiculaire au plan contenant la ligne centrale et bissectant les premier et deuxième aimants, selon une quantité qui est environ égale ou inférieure à la distance selon laquelle chaque ligne de détection est décalée de la ligne centrale.
  14. Dispositif selon l'une quelconque des revendications 9 à 13, dans lequel une première composante de l'induction magnétique, susceptible d'être mesurée par le premier capteur magnétique, peut être additionnée à une première composante de l'induction magnétique susceptible d'être mesurée par le deuxième capteur magnétique et, une deuxième composante de l'induction magnétique, susceptible d'être mesurée par le premier capteur magnétique, peut être annulée par une deuxième composante de l'induction magnétique susceptible d'être mesurée par le deuxième capteur magnétique, moyennant quoi il est possible de réaliser une mesure de l'induction magnétique combinée.
EP17770816.1A 2016-03-22 2017-03-08 Système de capteur magnétique Active EP3433568B1 (fr)

Applications Claiming Priority (2)

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US15/077,400 US10371549B2 (en) 2016-03-22 2016-03-22 Magnetic sensor system
PCT/US2017/021263 WO2017165117A1 (fr) 2016-03-22 2017-03-08 Système de capteur magnétique

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EP3433568B1 true EP3433568B1 (fr) 2022-02-23

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EP4356088A1 (fr) * 2021-06-17 2024-04-24 Shanghai Flexiv Robotics Technology Co., Ltd. Ensemble de détection, ensemble capteur de force et de couple, articulation de robot et robot

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WO2017165117A1 (fr) 2017-09-28
US10371549B2 (en) 2019-08-06
US20170276513A1 (en) 2017-09-28
CN107218954B (zh) 2020-09-08
EP3433568A1 (fr) 2019-01-30
TWI684776B (zh) 2020-02-11
EP3433568A4 (fr) 2019-10-30
CN107218954A (zh) 2017-09-29
TW201734496A (zh) 2017-10-01

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